CN107209987A - The system and method verified for traffic sign - Google Patents
The system and method verified for traffic sign Download PDFInfo
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- CN107209987A CN107209987A CN201480083506.1A CN201480083506A CN107209987A CN 107209987 A CN107209987 A CN 107209987A CN 201480083506 A CN201480083506 A CN 201480083506A CN 107209987 A CN107209987 A CN 107209987A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/09623—Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/24—Classification techniques
- G06F18/243—Classification techniques relating to the number of classes
- G06F18/24317—Piecewise classification, i.e. whereby each classification requires several discriminant rules
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/251—Fusion techniques of input or preprocessed data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/764—Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
- G06V10/77—Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
- G06V10/80—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
- G06V10/803—Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of input or preprocessed data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/12—Mirror assemblies combined with other articles, e.g. clocks
- B60R2001/1253—Mirror assemblies combined with other articles, e.g. clocks with cameras, video cameras or video screens
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
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- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
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- Computer Vision & Pattern Recognition (AREA)
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- Evolutionary Computation (AREA)
- Databases & Information Systems (AREA)
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- General Health & Medical Sciences (AREA)
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- Health & Medical Sciences (AREA)
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- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
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- General Engineering & Computer Science (AREA)
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Abstract
The driver assistance system of vehicle is provided.System includes image acquiring device, is configured to obtain the data of one or more control designators about du vehicule, determines control value, and at least one sensor device based on data, be configured to provide for the status information relevant with the state of vehicle.Also include processing unit, processing unit is configured as determining whether section situation is applicable based on data, age based on status information, the control value determined, section situation and data confirms the validity of the control value detected, wherein, when exceeding the predetermined threshold duration associated with status information at the age, processing unit is configured as cancelling validity, and wherein, when in section, situation obtains determining, processing unit is configured as increasing predetermined threshold duration.Processing unit is additionally configured to be shown control value when validity is identified, and when validity is revoked, prevents the display of control value.
Description
Technical field
This disclosure relates to the system and method recognized for road sign, and more specifically it relates to reduce and mistake
Road sign recognizes relevant adverse effect.
Background technology
The driver for existing for motor vehicle provides the various systems of auxiliary.For example, a kind of field of such auxiliary is related to
Automatic road sign identification.
Road sign identification can by using the surrounding environment for perceiving or detecting motor vehicle suitable equipment (example
Such as, the optical device of such as video camera) complete.System for example both can be commercially obtained at vehicular manufacturer, also can be from just
Take and commercially obtain system at navigation equipment (PND) manufacturer.PND systems are come to drive based on gps signal and map datum
Member provides the information relevant with road sign.
Some existing systems are realized for improving the accuracy rate of identification and the camera apparatus of robustness.The manufacture of vehicle
Business using preposition camera apparatus and by signal and the merging of related to the driving condition of vehicle data device.Another selection
It is the device for merging signal with navigation equipment.
In such a system, there are some problems, such as, for example, last long to maintain to the specific of driver
Control value display (i.e. such correlation how long be), how to be done when multiple designated symbols are successively identified, with
And vehicle changes direction or how should influence the display of control value through crossroad.
The system and method that US2012/046855 discloses identification road sign.The image of road sign is by least one
Imaging sensor is gathered.Vehicle computer, which is received, to be represented the view data along one or more road signs of route and is based on
View data shows one or more images of road sign.Display can one or more transport conditions based on vehicle,
Such as travel time amount, operating range or speed are presented one or more states of road sign.
EP1826736 B1 disclose the controller with the control content for determining road sign and/or road sign
Vehicle, wherein road sign be coated over shooting picture in.Expression for showing road sign is provided or shown on pipe
The display of the information of content processed.Display is variable between two output formats, and two output formats have road road sign respectively
The more high probability that the more small probability and road sign that will is determined are determined.Monochromatic or gray value represents to carry out with a kind of output format,
And colour represents to carry out with another output format.
The B1 of EP 1131803, which are disclosed, to be enabled traffic sign to be identified and is shown to observation in the form of remembering auxiliary
The apparatus and method of person.The reject rate that the identification of object with being identified as traffic sign is relevant is maintained at low numerical value.Come from
The view data of imaging sensor is analyzed and is classified in information process unit.With the symbol of storage in a memory cell
Represent that corresponding image section and/or view data are archived in memory cell, and pass through display based on classification results
Unit is represented.When view data is further processed, the object extracted is assigned to the particular category and son of traffic sign
In classification and it is classified.The composograph of traffic sign is generated, stores in a memory cell and aobvious by display unit
Show.
The U1 of DE 29610677 disclose the system for showing road sign, except for message to be shown into driver
Display outside, system also have sender unit, sender unit according to operating range activate display and so that
Display is visual or vision is invisible.
The A1 of DE 198 29 162 disclose purpose for identification road sign to the use of electron camera and with
The use of its image recognition apparatus cooperated, wherein, if the turn inside diameter for example after the road sign of rate limitation is indicated
Leave the road, then image recognition apparatus can be reset to its beginning state.
The content of the invention
It is previously described configure be generally deficient of the mark for confirming to detect validity desired control, especially when
In the presence of the situation of section.As used herein, section situation refers to a region, in this region, specific traffic rule
Then collection is applied to whole region.In other words, and as an example, in the rate limitation indicated by the porch in section region
Suitable for terminating all roads the whole section region that designator is demarcated by section designator and section.
There is provided the driver assistance system for vehicle in accordance with an embodiment of the present disclosure.System includes image acquiring device,
It is configured to obtain the data of one or more control designators on the du vehicule, control value is determined based on data；Extremely
A few sensor device, is configured to provide for the status information related to the state of vehicle；And processing unit.Processing unit quilt
It is configured to data and determines whether section situation is applicable, the validity of control value detected is confirmed, when validity is identified
When make control value be shown, and when validity is revoked prevent control value display.When section situation obtains determining, place
Reason device is configured as increasing threshold value duration, and is grown up when status information instruction vehicle beyond control value and when exceeding
When threshold value duration, processing unit is configured as cancelling validity.
By providing system such according to an embodiment of the invention, driver can be informed that current control value
(such as rate limitation), it is possible to allow driver to trust, the validity for the control value being shown on the display in vehicle
It is current.This is probably especially important in the situation of section because the shunting in such section have it is bigger after
Really.This sets up at least as following reasons：When entering a section, driver may be notified for example suitable for whole road
The speed limit of section.During being driven in the section, the further instruction that may not have the rate limitation occurs, and
Driver, which may not know what rate limitation when being driven in this section, to be applicable.For example, driver may not realize
Speed is limited to section to stand good, and may therefore be accelerated on legal limit limitation.This can be especially problematic
, because the punishment in such section situation may be significantly higher than the punishment in non-section situation.Therefore, it is important
It is that, until vehicle leaves section, driver should recognize current control value all the time in section.
Status information can include at least one in the change of car speed, operating range and vehicle heading.
Processing unit can be configured as changing the display of control value reflecting the age of data.For example, with from image
The time increase of the nearest control designator identification starting of acquisition device, display can correspondingly change.
From at least one of the transparency of the control value shown by the gray processing of display and increase display can be selected to repair
Change.
In accordance with an embodiment of the present disclosure, when status information indicates that the direction of vehicle changes, processor is configured as revocation
The validity of control designator, unless section situation has been determined.On the contrary, when determination vehicle comes into section region
When, the direction of vehicle changes the revocation for the validity that can not cause control designator.
Control value can include rate limitation.
According to another embodiment of the disclosure, there is provided a kind of method for driving auxiliary.This method is cut-off including acquisition
The data of one or more control designators near, control value is determined based on data, receives the state letter related to vehicle
Breath, increases threshold value duration, based on status information, identified control value, section situation come really when situation obtains determining in section
Recognize the validity of the control value detected, control value, and having when control value are shown when the validity of control value is identified
Control value is hidden when effect property is revoked, wherein when status information indicates that the duration that vehicle exceeds control value and exceeded is more than
During threshold value duration, validity is revoked.
By providing such method, embodiment of the disclosure allows the operator to be notified current control value (example
Such as rate limitation), and cause driver to trust that the validity of control designator is current.As explained above, at it
This is probably especially important in the case of oneself.
Method can include the display for changing control value at age based on data, wherein it is possible to from shown control value
Gray processing and increase transparency at least one in select modification.
Method can also include cancelling validity when status information indicates the change of direction of traffic, unless section situation is
Through being determined.On the contrary, when section situation is effective, the change of the direction of traffic indicated by status information can not cause control
The revocation of the validity of designator.
Control value can include rate limitation.
According to another embodiment of the disclosure, there is provided a kind of driver assistance system for vehicle.The system includes：
Video camera, video camera is configured as obtaining about the optical data of one or more control designators and is determined to manage based on data
Value processed；At least one sensor, sensor is configured to supply the status information related to the state of vehicle；And processor.
Processor is configured as determining whether section situation is applicable based on data, the validity of control value detected is confirmed, when effective
Property when being identified so that control value is shown, and prevent when validity is revoked the display of control value.In section, situation is obtained
To when determining, processor is configured as increasing threshold value duration, and when status information indicate vehicle beyond control value and
When the duration exceeded is more than threshold value duration, processor is configured as the validity of deregulation value.
Status information can include at least one in the change of car speed, operating range and vehicle heading.
Processor can be configured as changing the display of control value to reflect the age of data, and can be from shown
The gray processing of control value and selection modification at least one increased transparency.
When in section, situation obtains determining, processor can be configured as ignoring direction of traffic change from status information.
Unless otherwise contradiction, it is intended that the combination of key element described above and the key element in specification can be carried out.
It is to be understood that as required, foregoing general description and ensuing detailed description are all only exemplary
And it is explanatory, and do not limit the disclosure.
Comprising in this manual and constitute this specification a part brief description of the drawings embodiment of the disclosure, and together with
Specification is used for explaining together the principle of embodiment.
Brief description of the drawings
Fig. 1 shows exemplary driver assistance system in accordance with an embodiment of the present disclosure；
Fig. 2 is the figure for representing to realize the example scenario of the driver assistance system according to Fig. 1；
Fig. 3 is the figure for representing to realize another situation of the driver assistance system according to Fig. 1；
Fig. 4 is the flow chart for showing the illustrative methods for performing embodiment of the disclosure；
Specific embodiment
Now with detailed reference to the exemplary embodiment of the disclosure, example therein illustrates in the accompanying drawings.As much as possible,
Identical reference will be used to refer to identical in all of the figs or approximate part.
Fig. 1 shows exemplary driver assistance system 1 in accordance with an embodiment of the present disclosure.Driver assistance system 1
ECU 10, image acquiring device 15, one or more sensors 20 and display 25 etc. can be included.Implemented according to some
Example, can optionally provide global positioning system, for example, be supplied to the additional data for having off position and map as needed
ECU 10。
Image acquiring device 15 can include for example one or more video cameras and/or be configured to from the area of vehicle periphery
Domain (such as before the vehicle of advance) obtains the suitable equipment of others of optical data.Image acquiring device 15 can also
The data that obtain around vehicle of processing are configured as to determine control designator (for example, road sign, such as rate limitation
Mark, section indicator flag etc.) presence.This image acquiring device 15 is known in the art, and art technology
Personnel are it will be appreciated that any such image can be realized in the system of the present invention without departing from the scope of the disclosure
Acquisition device 15.
Image acquiring device 15 can be located on vehicle 2 so as to provide the enough visual field 4 around vehicle 2 (for example across
Forward sight and side view closer to 180 degree), for example, image acquiring device 15 can be located at behind windshield, front bumper
The suitable installation site of others on upper, side-view mirror, rearview mirror or vehicle 2, to provide close to the visual field of control designator
4.According to some embodiments, it may expect to minimize the observability of image acquiring device 15, and ability due to attractive in appearance
Field technique personnel it will be appreciated that find are adapted for carrying out the installation site of the target and while also provide around vehicle 2 enough regards
Open country is reasonable contemplation.When referring to the visual field used herein, term " enough " mean the visual field for image acquiring device 15
The control designator 50 occurred with least 99.9% recognition success rate identification on the road around mobile vehicle is provided and incited somebody to action
The information related to the control designator is shown to the ability of the driver of vehicle on display 25.
Image acquiring device 15 can be configured as the data on the control designator 50 around vehicle 2 being supplied to
ECU 10.Such data can include such as control value (such as rate limitation and/or section designator).Image acquiring device
15 can also be via wired connection, wireless connection or other be used to transferring data to ECU suitable transfer approach will so
Data provide arrive ECU10.For example, image acquiring device 15 can include the radio communication for being used to transfer data to ECU 10
Device (such as Wi-Fi hardware compatible IEEE 802.11) and/or its of the data from image acquiring device 15 can be used
Its equipment.As alternatively or additionally, for example for safety purposes, wired connection can be provided.Have as can providing
Line is connected, for example to provide fail safe in the case where wireless connection should be stopped.
When obtaining the data relevant with control designator, image acquiring device 15 can be configured as time indicator
(such as timestamp) distributes to data.Alternatively, ECU 10 can be configured as receiving data from image acquiring device 15
When time indicator and/or location pointer are distributed into data.By the way that time indicator is distributed to by image acquiring device
15 data obtained, can the age (elapsed time such as being recognized from control designator by image acquiring device 15) of data
To be followed the trail of by ECU 10.
One or more sensors 20 can be configured as the status information relevant with the state of vehicle being transferred to ECU
10.Undergone for example, the state of vehicle can include the speed that travel of vehicle, the direction that vehicle is being travelled, vehicle
Direction transformation and/or the direction transformation, the distance that has travelled of vehicle that have been subjected to etc..
Therefore, one or more sensors 20 can include such as steering wheel position sensor, vehicle speed sensor, angle
Velocity sensor etc..Similar with image acquiring device 15, such sensor can be configured as wirelessly and/or by wired
This status information is supplied to ECU 10 by mode, and may further include duration information.When related to status information
Long message can be followed the trail of by ECU10.
In order to realize embodiment of the disclosure, ECU 10 can include any suitable equipment, and the equipment is configured as behaviour
Vertical data, perform calculatings, perform code for making a policy and execution causes operator's progress presentation of information to vehicle 2
Code.For example, ECU 10 can include various simulations and/or numeral circuit, and integrated circuit can be included, such as
Risc processor, i386 processors, asic processor etc..Normally, the car-mounted computer in modern vehicle includes such
Processor, and it will be appreciated by those skilled in the art that the ECU 10 of the present invention can be included in such car-mounted computer,
Or can provide separatedly.Those skilled in the art also will appreciate that, exemplary circuit as described herein and processing
Device is not intended to restricted, and can implement any suitable equipment.
ECU 10 may be connected to the one or more databases related to vehicle 2 and/or other memories (for example
RAM, ROM etc.) so that vehicle-relevant data and the processing in vehicle functions can be stored, such as control designator checking phase
Between the value (such as threshold value) that can use.It will be understood by those skilled in the art that discussed here on any this number
It is not restricted according to the information intent of storehouse and/or memory.
ECU 10 can be configured as receiving the data from image acquiring device 15 and one or more sensors 22, with
The function related to the disclosure is provided.For example, ECU 10 can be simultaneously from image acquiring device 15 and one or more sensors
Receive the data (such as flow data) on control designator.Such data can include such as rate limitation and/or section
Designator.
ECU 10 is therefore including being used to receive data from image acquiring device 15 and being received from one or more sensors 22
One or more devices of status information.For example ECU 10 may be connected to one or more interfaces, such as network interface,
One or more of interfaces are configured as wirelessly and/or by the data in wired mode receiving status information.
Based on the data and status information for being supplied to ECU 10, ECU 10 can be configured as performing various operations confirming
Or the revocation validity of control value associated with the control designator 50 recognized etc..For explanation embodiment of the disclosure
Purpose, will describe the example of operating speed restriction sign 50 and section restriction sign 55.However, those skilled in the art can manage
Solve that this is merely exemplary and be not intended to restricted.
Display 25 can be configured as the driver of the presentation of information that will be provided by ECU 10 to vehicle 2.Fig. 2 is shown
The example display 25 of the possible information interested of driver of vehicle 2 is provided.As described in Figure 2, correct rate limitation is aobvious
Show and be currently displayed on device 25 in the information of driver.
Display 25 can be for information can be seen that and/or audible to be supplied to appointing for the driver of vehicle 2
What suitable equipment.For example, display 25 can include head-up display (such as on the windshield before driver), prison
Visual organ, instrument board display etc..
Fig. 4 is the flow chart of depicted example handling routine, and the handling routine is used to be based on from one or more sensors
The status information of 20 vehicles received and the number relevant with one or more control designators provided by image acquiring device 15
According to the validity for confirming or cancelling the control designator in the exemplary scenario that Fig. 3 describes.
Importantly, the relevant of (such as when starting vehicle) can be performed by ECU 10 by being not shown in flow chart 400
The initialization of some system variables of driver assistance system.For example, for the purpose of various confirmations, such as determining speed limit
The validity of mark 50 processed, ECU 10 can use threshold value duration.Such threshold value duration value can as mentioned above that
Sample is stored in database.This threshold value duration can for example be initially set to predetermined amount, such as 10 seconds, 20 seconds.
This predetermined threshold numerical value can according on vehicle-state and image acquiring device 15 offer data particular condition and by
Change, this will be discussed in greater detail below.
Image acquiring device 15 can obtain with for the current positive traveling of vehicle 2 road control designator it is relevant
View data, and send this information to ECU 10 (step 405).It is also that, in step 405, one or more sensors 20 can
To obtain the status information relevant with vehicle 2, such as car speed, vehicle heading and vehicle angular speed, and by this
Information is supplied to ECU10.When receiving status information and control indicator data, ECU 10 can be configured to determine that and manage
The validity of the associated control data of designator processed.
According to some embodiments, image acquiring device 15 can be configured as the control value associated with control designator
It is supplied to ECU 10.Alternatively, ECU 10 can be configured with the data that are provided by image acquiring device 15 to determine
Control value.For example, obtaining image in image acquiring device 15 and indicating the rate limitation mark of 50 kilometers of rate limitations hourly
In the case of will, data can be provided to ECU 10, and ECU 10 can be with it is later determined that control value be equal to 50 kilometers per small
When rate limitation, can then to show that the control for indicating 50 kilometers of rate limitations hourly is indicated on display 25
The image of symbol.
In addition, image acquiring device 15 can be configured as providing the number for indicating that section situation whether there is to ECU 10
According to.In other words, when vehicle enters the section region that section situation is present, image acquiring device 15 can be obtained for example as schemed
Data shown in 3 control designator 55.For 30 kilometers of rate limitations hourly, Fig. 3 control designator 55 shows
Not only effectively, and section situation is also effective to control value (such as 30 kilometers rate limitations hourly).When ECU10 is determined
(step 410 when section situation is effective：It is), threshold time is increased to section condition threshold time (step 415) by ECU 10.Road
Section the condition threshold time can count as required ground or geometrically be more than initial predetermined threshold numerical value.For example, working as initially
When predetermined threshold numerical value is equal to 10 seconds, the section condition threshold time can be equal to 20 seconds, 40 seconds, 100 seconds or even more big, so as to
Make it possible to carry out desired confirmation to control designator 50 in section 40.
If section situation is not effective, or after section situation obtains determination, ECU 10 can determine vehicle 2
Whether the control value (such as rate limitation) (step 420) associated with identified control value is exceeded.For example, in control
In the case that designator provides 50 kilometers of control values hourly, ECU 10 can use what one or more sensors 20 were provided
Status information determines the speed associated with vehicle 2.If the speed associated with vehicle 2 exceeds control value (such as vehicle
Travelled with 70 kilometers of speed hourly) (step 420：It is), ECU 10 further use state information can come true
Determine the duration that vehicle has exceeded control value.For example, ECU 10 can use the distance that vehicle 2 has been travelled within a predetermined period of time
To determine to exceed duration.If exceeding the threshold time currently set, i.e. section threshold time under the situation of section beyond duration
Or the initial predetermined threshold time, play by ear (step 425：It is), then the validity of control designator can be revoked (step
430)。
When ECU 10 determines vehicle without departing from control value (step 420：It is no) or vehicle beyond control value time not
More than threshold time (step 425：It is no) when, processor can then access the additional state from one or more sensors 22
Information changes (step 435) to determine whether vehicle has been subjected to direction.For example, ECU 10 can be with analysis directions disk location status
Information, and/or gps data (in the case of available), and/or it can indicate the direction of vehicle 2 from image acquiring device 15
The information of change.
When ECU 10 determines that vehicle 2 has been subjected to direction and changes (step 435：It is) when, ECU10 can check again for section
Whether situation is effective.For example, ECU 10 can simply check whether threshold time is already set as section threshold time, and
And if it is, ECU 10 then recognizes section situation (step 440：It is).As described above, when section situation is effective, with it
Therefore associated control value is applicable in whole section, and therefore direction change should not influence the validity of control value.
Therefore, ECU 10 is confirmed the validity and control value is displayed on display 25 (step 450).ECU 10 then proceedes to connect
The process of status information and control data is received, constantly to wait new control designator.
If the processor determine that section situation is not effective (step 440：It is no), then when vehicle has been changed previously
During identified direction, control designator is no longer effective and should be revoked.Therefore, ECU 10 makes control designator
Validity is revoked (step 430), and from display 25 remove control designator display.ECU 10 then proceedes to receive
The process of status information and control data, constantly to wait new control designator.
It would be recognized by those skilled in the art that without departing from the scope of the disclosure, extra change can be provided
Type.For example, can be followed the trail of because of the age of the data associated with control designator 50 by ECU 10, due to being filled in image recognition
Put 15 do not identify new control designator 50 in the case of the age can increase, the control designator that such age increases
Validity there may be problem.Therefore, ECU 10 can cause the modification of the display of control value on display 25.For example, ECU
10 can change gray processing and/or the general level of transparency is driven so that the instruction at the age of control value to be given on display 25
The person of sailing.
Certainly, above example be merely exemplary and be not intended to restricted.
Throughout the specification, including claim, term " comprising " should be understood that the same of " including at least one "
Adopted word, unless otherwise indicated.The particular value for the key element being described should be understood that in acceptable manufacturing industry or industrial tolerance
In the range of be dawn known to those skilled in the art, it is and any to term " substantially " and/or " roughly " and/or " general
The use on ground ", which should be understood that, to be meaned to fall into such acceptable margin of tolerance.
It is such with reference to intention if country, any standard (such as ISO) of international or other standards mechanism are referenced
The standard that country or International Standards Organization untill being to be referenced to the priority date of this specification define.To these standards
Any follow-up material alterations is not intended to change scope and/or the definition of the disclosure and/or claim.
Although describing the disclosure by reference to specific embodiment, but it is to be understood that these embodiments are only this public affairs
The principle and the explanation of application opened.
It is intended that description and embodiments and is to be considered only as exemplary, the true scope of the disclosure is by appended claims
Book is indicated.
Claims (17)
1. a kind of driver assistance system of vehicle, including：
Image acquiring device, is configured to：
Obtain the data of one or more control designators on the du vehicule；
Control value is determined based on the data；With
At least one sensor device, is configured to provide for the status information relevant with the state of the vehicle；
Processing unit, is configured to：
Determine whether section situation is applicable based on the data；
Confirm the validity of the control value detected；
When the validity is identified, it is shown the control value；With
When the validity is revoked, the display of the control value is prevented；
Wherein, when section situation obtains determining, the processing unit is configured as increasing threshold value duration, and
Wherein, when the status information indicates the vehicle beyond the control value, and the duration exceeded is more than described
During threshold value duration, the processing unit is configured as cancelling the validity.
2. the driver assistance system according to foregoing claim, wherein, the status information includes car speed,
At least one in the change of operating range and vehicle heading.
3. the driver assistance system described in any one in preceding claims, wherein, the processing unit by with
It is set to and changes the display of the control value to reflect the age of the data.
4. driver assistance system according to claim 3, wherein, the modification is from the shown control value
Selected at least one of the transparency of the control value shown by gray processing and increase.
5. the driver assistance system described in any one in preceding claims, wherein, when the status information refers to
When showing the change of the direction of traffic, the processor is configured as cancelling the validity, unless section situation is true
It is fixed.
6. the driver assistance system described in any one in preceding claims, wherein the control value is speed limit
System.
7. a kind of driver assistance method, including：
Obtain the data of one or more control designators on the du vehicule；
Control value is determined based on the data；
Receive the status information relevant with the vehicle；
When situation obtains determining in section, increase threshold value duration；
Having for the control value detected is confirmed based on the status information, the control value determined, the section situation
Effect property；With
When the validity is identified, the control value is shown, when the validity is revoked, the control value is hidden,
Wherein
When the status information indicates that the vehicle exceeds the control value, and the duration exceeded is when being more than the threshold value
When long, the validity is revoked.
8. method according to claim 7, including：
Age based on the data changes the display of the control value.
9. method according to claim 8, wherein, the modification is gray processing and the increasing from the shown control value
Plus selected at least one of the transparency of the shown control value.
10. the method described in any one in claim 7-9, including：
When the status information indicates the change of direction of traffic, the validity is cancelled, unless section situation has been determined.
11. the method described in any one in claim 7-10, wherein the control value is rate limitation.
12. a kind of driver assistance system of vehicle, including：
Video camera, is configured to acquisition on the optical data of one or more control designators and determines control based on the data
Value；With
At least one sensor, is configured to provide for the status information relevant with the state of the vehicle；
Processor, is configured to：
Determine whether section situation is applicable based on the data；
Confirm the validity of the control value detected；With
When the validity is identified, the control value is shown, and when the validity is revoked, prevented described
The display of control value；
Wherein, when section situation obtains determining, the processor is configured as increasing threshold value duration, and
Wherein, when the status information indicates the vehicle beyond the control value, and the duration exceeded is more than described
During threshold value duration, the processor is configured as cancelling the validity.
13. driver assistance system according to claim 12, wherein, the status information includes car speed, gone
Sail at least one in the change of distance and vehicle heading.
14. driver assistance system according to claim 12, wherein, the processor is configured as changing the control
The display of value is to reflect the age of the data.
15. driver assistance system according to claim 14, wherein, the modification is from the shown control value
Gray processing and increase shown by the control value transparency at least one in select.
16. driver assistance system according to claim 12, wherein, when the status information indicates changing for direction of traffic
During change, the processor is configured as cancelling the validity of the control value, unless section situation has been determined.
17. driver assistance system according to claim 12, wherein the control value is rate limitation.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/EP2014/072059 WO2016058635A1 (en) | 2014-10-14 | 2014-10-14 | Systems and methods for traffic sign validation |
Publications (2)
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|---|---|
| CN107209987A true CN107209987A (en) | 2017-09-26 |
| CN107209987B CN107209987B (en) | 2021-06-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480083506.1A Active CN107209987B (en) | 2014-10-14 | 2014-10-14 | Driver assistance system and method for traffic sign verification |
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| US (1) | US10573175B2 (en) |
| EP (1) | EP3207494B1 (en) |
| JP (1) | JP6496018B2 (en) |
| KR (1) | KR20170105481A (en) |
| CN (1) | CN107209987B (en) |
| WO (1) | WO2016058635A1 (en) |
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| CN111201422A (en) * | 2017-09-29 | 2020-05-26 | 丰田自动车欧洲公司 | System and method for driver assistance |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2016058635A1 (en) | 2016-04-21 |
| EP3207494A1 (en) | 2017-08-23 |
| US10573175B2 (en) | 2020-02-25 |
| CN107209987B (en) | 2021-06-25 |
| JP2017538995A (en) | 2017-12-28 |
| JP6496018B2 (en) | 2019-04-03 |
| US20170243483A1 (en) | 2017-08-24 |
| KR20170105481A (en) | 2017-09-19 |
| EP3207494B1 (en) | 2021-12-22 |
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